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A Nonlinear Disturbance Observer Based Adaptive Control Scheme for an Underwater Manipulator

  • Conference paper
Trends in Intelligent Robotics, Automation, and Manufacturing (IRAM 2012)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 330))

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Abstract

A new nonlinear disturbance observer based tracking control scheme for an underwater manipulator is presented in this paper. This observer overcomes the disadvantages of existing disturbance observers, which are designed or analyzed by the linear system techniques. The performance of the proposed tracking control scheme is demonstrated numerically by the payload compensation and interaction effects compensation for a two degrees of freedom vertical underwater manipulator.

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References

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Author information

Authors and Affiliations

  1. Discipline of Mechanical Engineering, School of Engineering, Indian Institute of Technology Indore, Madhya Pradesh, India

    Santhakumar Mohan

Authors
  1. Santhakumar Mohan
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Editor information

Editors and Affiliations

  1. Monash University Sunway Campus, 46150, Malaysia

    S. G. Ponnambalam , Jussi Parkkinen  & Kuppan Chetty Ramanathan ,  & 

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© 2012 Springer-Verlag Berlin Heidelberg

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Mohan, S. (2012). A Nonlinear Disturbance Observer Based Adaptive Control Scheme for an Underwater Manipulator. In: Ponnambalam, S.G., Parkkinen, J., Ramanathan, K.C. (eds) Trends in Intelligent Robotics, Automation, and Manufacturing. IRAM 2012. Communications in Computer and Information Science, vol 330. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-35197-6_2

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  • DOI: https://doi.org/10.1007/978-3-642-35197-6_2

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-35196-9

  • Online ISBN: 978-3-642-35197-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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